ROS2 gazebo camera sensor and plugin
Last update: 06-01-23
Table of Content
Gazebo camera sensor with ROS2 plugin Tutorial Using SDF,
- Spawn camera SDF model into gazebo
- View Camera with correct TF in rviz
- set plugin camera coordinate system (x:right, y:down, z:into the plan)

Image Coordinate Frame#

Camera Coordinate Frame#

Robot Coordinate Frmae#

Demo#
- camera.world: Gazebo world sdf file
- camera2.sdf: camera model, SDF file with ros2 plugin
- camera.launch.py: ROS2 launch file
- Launch gazebo
- Run Rviz
- spawn ROBOT (camera)
- Set static TF’s
world#
Basic gazebo world - Add simple object viewed by the camera
worlds/camera.world
model#
models/camera2/model.sdf
launch#
launch/camera.launch.py